WO2006064362A2 - Procede de commande d'un dispositif ou d'un processus d'automatisation industrielle - Google Patents

Procede de commande d'un dispositif ou d'un processus d'automatisation industrielle Download PDF

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Publication number
WO2006064362A2
WO2006064362A2 PCT/IB2005/003816 IB2005003816W WO2006064362A2 WO 2006064362 A2 WO2006064362 A2 WO 2006064362A2 IB 2005003816 W IB2005003816 W IB 2005003816W WO 2006064362 A2 WO2006064362 A2 WO 2006064362A2
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WO
WIPO (PCT)
Prior art keywords
wireless communication
wireless
control
control unit
user interface
Prior art date
Application number
PCT/IB2005/003816
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English (en)
Other versions
WO2006064362A3 (fr
Inventor
Mogens Mathiesen
Niels Aakvaag
Gilles Thonet
Original Assignee
Abb Research Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Abb Research Ltd filed Critical Abb Research Ltd
Priority to US11/793,387 priority Critical patent/US7881816B2/en
Priority to DE112005003076.8T priority patent/DE112005003076B4/de
Publication of WO2006064362A2 publication Critical patent/WO2006064362A2/fr
Publication of WO2006064362A3 publication Critical patent/WO2006064362A3/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present invention concerns a control method and a system for controlling an industrial automation device or industrial process,
  • the invention relates to control systems in which one or more communications are carried out wirelessly for one or more data signals and/or control signals.
  • Process control for industrial automation processes or industrial automation devices is often supervised and regulated by a process control system such as a closed loop control process.
  • a traditional approach in the use of closed loop control is to measure a value of a process output and compare the measured value with a reference value.
  • There are also other objectives of control loop control including set-point regulation, tracking (time- varying reference path) , path following (varying reference independent of time), disturbance attenuation etc.
  • any difference between the measured sensor value and the reference signal is fed into the controller.
  • the controller then in turn sends signals to the actuator so that the reference value is approached.
  • a control loop from the Prior Art is shown in Figure 1.
  • the Prior Art is shown to have a comparator 2, a control unit 4, an actuator 6 and a sensor 8.
  • Sensor 8 measures a value for an output of the process, a dimension for example, and the measured value is sent to comparator 2.
  • Comparator 2 compares the measured value with a reference value, sends the result to control unit 4.
  • Control unit 4 issues a control signal to actuator 6 to reduce the difference between the reference value and the measured output value.
  • Model based control approaches typically use a mathematical or statistical model.
  • An example of model based control may use one or more state equations, of which one may be of the form: dx
  • y g( ⁇ ) where x is the vector of all state variables including time derivatives to any order of x, y is the output vector, u is a vector of the inputs, t is time, f and g are functions representing the system.
  • the traditional closed loop feedback system comprises hard-wired communication links.
  • a disadvantage with hard-wired communication links is that changes in position of any component in the closed loop, such as a sensor or actuator, usually requires a stop in production or an extensive shutdown, especially in the case of analogue wired connections, and/or digital wired connections. Alternatively, such changes have to be delayed until a process shutdown may be programmed.
  • hard wiring may be both expensive to replace and sometimes technically challenging to replace.
  • Wireless communications have been used within industrial systems and standards such as IEEE-802.11 have been shown to be sufficiently robust for many industrial environments. However, wireless communications are more subject to dynamic variations and disturbances than hard-wired or optical networks.
  • a primary aim of the present invention is to provide additional information for use in identifying a control strategy to use to control an industrial automation process.
  • a secondary aim of the present invention is to provide additional information for use in identifying a control strategy to use to control an industrial automation device.
  • Another aim is to provide additional information for use in a process control system to better improve control over the process and/or device.
  • a method for controlling an industrial automation device or process comprising a control unit, at least one actuator and at least one device arranged for wireless communication with said control unit of said process, which comprises determining at least one characteristic of a wireless transmission, statistically processing the at least one characteristic and supplying an estimated value for correction to said control unit, and selecting a control strategy dependent on the value or values of the at least one wireless communication characteristic.
  • a method for controlling an industrial automation device or process by implementing in a control unit of the device or process a control strategy dependent on an optimization of parameters of the communication channel by means of a logical or arithmetic model or process based on any from the list of: rule based model, state estimator, Kalman filter, deductive reasoning.
  • a method for controlling an industrial automation device or process by reading one or more of the characteristics of a wireless communication between a sensor and/or actuator a control unit of the process from a communication layer of the wireless communication.
  • a method for controlling an industrial automation device or process by reading one or more of the characteristics of a wireless communication between a sensor and/or actuator a control unit of the process from a MAC layer (medium access control) and/or a physical layer of the wireless communication.
  • MAC layer medium access control
  • Closed loop control is often carried out by determining an output value from a process and, depending on the objective comparing the measured or otherwise determined value to a reference value.
  • the difference between the reference signal and the measured sensor value is fed into the controller.
  • the controller then in turn sends signals to the actuator so that the reference value is approached.
  • the quantity to be controlled can be the measured output or state, an unmeasured state, or combinations of measured, unmeasured states and the control variable.
  • the method according to an embodiment of the present invention concerns monitoring the wireless communication taking place in a controlled process and feeding back information to the controller, which information may be incorporated in a control action, for example by means of the control algorithm.
  • Information that may be included may be dependent, for example, on: packet loss, delay, delay variance. This means that information may be taken directly for example from one or more communication layers, and trends in the communication parameters can also be included. This information can as well be time-varying.
  • the concept of a comparator includes a comparator that identifies the differences between the desired behavior (for example a reference value, a trajectory, trend or path) and that of the system based on the relevant performance criterion.
  • the comparator and the controller block may be comprised in one and the same module.
  • the principal advantage of the invention is that monitoring of the wireless communication provides additional information that may be used to improve process control, and/or control of one or more industrial automation devices. More information is thus provided to control processes and/or devices without adding dedicated sensors or measuring means, but only by extracting information from existing sources in a new and inventive way, then processing the information, and applying it in a selected way.
  • FIGURE 1 is a schematic diagram for a control method for closed loop feedback according to the Prior Art
  • FIGURE 2 is a schematic block diagram for a method of controlling an industrial automation device or process by means of one or more control strategies according an embodiment of the invention
  • FIGURE 3 is a schematic flowchart for a control method for closed loop feedback according another embodiment of the invention.
  • FIGURE 4 is a flowchart for steps of a method according another embodiment of the invention.
  • FIGURE 5 is a flowchart for steps of a method for controlling an industrial automation device or process according to another embodiment of the invention.
  • FIGURE 6 is a schematic block diagram for a graphical user interface for displaying and/or manipulating methods according to another embodiment of the invention.
  • Figure 2 shows a schematic diagram for closed loop control of an industrial process including one or more wireless communication links.
  • Figure 2 shows a closed loop feedback control Ia similar to the Prior Art example shown in Figure 1.
  • Figure 2 shows one or more communication links, one link 7w from sensor to control unit 4 and a link 9w between control unit to actuator 6 implemented as wireless links.
  • One or more actuators 6 and one or more sensors 8 may be comprised in a process comprised as system Ib or subsystem Wireless link 7w and/or 9w are monitored and communications parameters collected at 15 are sent to the control unit 4.
  • Wireless link 7w, 9w may be monitored and the resulting information sent to control unit 4.
  • the parameters of the communication channel may be fed back to the controller and included in the control algorithm, for example RSSI (received signal strength indication) , network occupancy, packet loss rate, transmission delay, transmission delay variance.
  • a control algorithm may comprise a form of model based control using one or more state equations. Parameters of the communication channel may be fed back into a control model which may in this case take the form:
  • the communication parameters are monitored by reading information comprised in different ways in the wireless transmissions.
  • Much of the information may be obtained from a MAC (Medium Access Control) layer of, for example, an IEEE 802.11-type protocol for wireless communication in an Ethernet type LAN, or from an IEEE 802.15.4 wireless network system.
  • the information available from such a MAC layer may comprise the following parameters : -RSSI received signal strength indication -number of failed transmission attempts -network occupancy.
  • Information from such a MAC layer may comprise parameters relevant to any of the following functions such as :
  • Other communication parameters are monitored as such and not read or obtained from the wireless transmission Medium Access Control. These are parameters such as : -transmitter power use variation -receiver power use variation.
  • Parameters from the immediate environment of the wireless node may be collected for analysis and control purposes. For example an update rate for a wireless sensor, and/or variations in the update rate, may be logged as a parameter and evaluated.
  • Figure 4 shows a flowchart for steps of using parameters from wireless communication in a control loop for an industrial process according to one embodiment of the invention. The method may begin at 41 by
  • an estimator or other control strategy may be selected and used to provide a good estimate for a predictive correction in a control loop
  • the selected control strategy control strategy may be selected and used to provide a good estimate for a predictive correction in a control loop, the selected control strategy depending to some extent on the nature of the information derived from the data gained from the wireless transmission characteristics.
  • Dead reckoning or deductive reasoning
  • a Kalman Filter may also be used to provide a correction factor for the control loop to identify disturbances and/or to eliminate a process error.
  • control for example, of an actuator 6 as shown in the schematic control loop of Figure 2 may be carried out by corrective action based on parameters of wireless communication between the control unit and the actuator and/or by corrective action based on parameters of wireless communication between the control unit and a sensor cooperating with the actuator.
  • a type of rule-based model also may be used.
  • one or more neural networks may also be trained either off line or on line, depending on the situation and the data intensity with respect to data handling capacity, and/or computing requirements.
  • the application of neural networks can as well take place together with the mathematical and/or physical process models, as a relative neural network.
  • neural networks may be used to model one or more technical processes or assumed technical processes that have, for example, not been captured in a mathematical and/or physical process model, an application which is sometimes known as absolute neural networks.
  • On-line training of neural networks may be particularly useful when it is relevant to determine a "Monday morning" syndrome, i.e.
  • the training is carried out on the basis of measured characteristics logged on line which may be directed into an optimization of the type described here of parameters and/or process models.
  • An optimal or other preferred adaptation of a mathematical and/or physical process control strategy may also be achieved by means of genetic algorithms. It is possible by means of stochastic mutation of various approaches to a solution to use these evolutionary algorithms to identify preferred or optimum parameter settings for certain process control models. In addition it is possible to add to this process by means of genetic programming. With the aid then of an evolution type of control strategy, it is possible to achieve structural improvements to the device or process control.
  • One or more of the sensors or actuators or other components is equipped with a wireless transmitter, and wireless communications between for example the sensor and a control unit of the industrial process may be carried out using any suitable protocol such as wireless Ethernet, ZigBee or another wireless networking or WLAN protocol.
  • Suitable transmissions may be made using a short-range radio communication, such as a transmission conforming to a protocol compatible with any of: standards issued by the Bluetooth Special Interest Group (SIG) ; any variation of IEEE- 802.11, WiFi, Ultra Wide Band (UWB), ZigBee or IEEE-802.15.4, IEEE-802.13 or equivalent or similar.
  • SIG Bluetooth Special Interest Group
  • UWB Ultra Wide Band
  • ZigBee ZigBee
  • IEEE-802.15.4 IEEE-802.13 or equivalent or similar.
  • a standard compatible with WAPI Wi-Fi Authentication and Privacy Infrastructure, GB15629.11- 2003 or later
  • WAPI Wi-Fi Authentication and Privacy Infrastructure
  • a radio technology working at high frequencies usually greater than 400MHz, for example an ISM-type band (e.g. 433MHz, 868MHz, 2.4GHz, 5GHz or higher), with significant interference suppression means by spread spectrum technology or frequency hopping and so on may be a preferred type of wireless communication.
  • ISM-type band e.g. 433MHz, 868MHz, 2.4GHz, 5GHz or higher
  • significant interference suppression means by spread spectrum technology or frequency hopping and so on may be a preferred type of wireless communication.
  • a broad spectrum wireless protocol in which each or any data packet may be re-sent at other frequencies of a broad spectrum at around 7 times per millisecond, for example, may be used, such as in a protocol developed by ABB called Wireless interface for sensors and actuators (Wisa) .
  • One or more microprocessors comprise a central processing unit CPU performing the steps of the methods according to one or more aspects of the invention, as described for example with reference to Figures 3-7.
  • the comparator may be comprised as a processor, or it may be comprised as a standard computer or processor or other device or a dedicated analogue or digital device or on one or more specially adapted computers or processors, FPGAs (field programmable gate arrays) or ASICs (application specific integrated circuits) or other devices such as simple programmable logic devices (SPLDs), complex programmable logic devices (CPLDs) , field programmable system chips (FPSCs) .
  • SPLDs simple programmable logic devices
  • CPLDs complex programmable logic devices
  • FPSCs field programmable system chips
  • the computer program comprises computer program code elements or software code portions that make the computer, processor or other device perform the methods using equations, algorithms, recursive algorithms, wireless communications parameter data, stored values, calculations and statistical or pattern recognition methods previously described, for example in relation to Figures 2, 4-6.
  • a part of the program may be stored in a processor, but also or instead in a ROM, RAM, PROM, EPROM or EEPROM chip or similar memory means .
  • the program in part or in whole may also be stored locally (or centrally) on, or in, other suitable computer readable medium such as a magnetic disk, CD-ROM or DVD disk, hard disk, magneto-optical memory storage means, in volatile memory, in flash memory, as firmware, or stored on a data server.
  • GUI Graphical User Interface
  • a logged in computer may be connected directly to the control system, or connected via a main or local control server, or other control unit even such as a simple controller or PLC, or via a control system computer/workstation.
  • Figure 6 shows a schematic arrangement for a such graphical user interface for displaying and/or manipulating methods according to an embodiment of the invention.
  • the figure shows a display 60 with part of a control loop 61a, which may represent the control loops Ia of, for example, Figure 2 and 3.
  • Representations of the one or more actuators 76, a system related to the control loop 71b and one or more sensors 71 may be shown which may be selected or otherwise manipulated to access information, set points etc or other data relative an actuator, system part or sensor, see Figure 7.
  • Parameters of wireless communication are monitored 75 in the control loop, from which information such as packet loss 63, RSSI 66, and network occupancy 67 may be selected and/or retrieved. Information may be displayed about these parameters as shown.
  • Graphical means 68 are shown for configuring any of the MAC parameters to be sampled and logged. Also shown in the figure are graphical means 67 to select an estimator or a control strategy, such as a Kalman Filter, an optimiser, a linear optimiser, a Bayesian statistics model or other statistical model processes. A parameter sensed or read separately from the MAC layer, such as the sensor update rate 64, may also be collected for inclusion and examination with the other wireless characteristics.
  • Figure 5 shows a flowchart for a method according to another embodiment. Communication parameters may be collected in part by- logging error correction routines (CRC results) , logging time delays for acceptance, rejection, logging time for answers to system checks . Wireless parameters of actively determined communication conditions as well as automatically available and logged wireless may be processed, beginning at:
  • Figure 7 shows a schematic arrangement for a graphical user interface for displaying and/or manipulating methods according to another embodiment of the invention. It shows a graphical user display 70 comprising elements representing actuators 76, one or more parts of an associated system 71b, and one or more sensors 71.
  • the GUI also comprises graphically manipulatable means 81, 83- 89 to select or configure information relevant for adjustment or correction of one or more parameters control loop Ia.
  • the figure shows representations of the one or more actuators 76, a system 71b related to the control loop 61a and one or more sensors 71.
  • Activating the actuators representation may provide access to set points 81, or other control loop parameters that may be corrected, or to e.g. configuration data.
  • Activating the System representation may provide access to one or more control actions 83, data on system trends 84, data on a trend of the control loop 86, or on a system disturbance 87, any of which may also be used to correct one or more parameters of the control loop Ia.
  • the sensor representation may provide access to a configuration function 88 and/or signal/noise ratio information.
  • the graphical user interface or other HMI may be embodied as a touch screen.
  • text lines or images included in the display of a preferred embodiment, and means such as select estimator or input buttons, may be embodied as graphic images on a touch screen. Operation may be carried out according to the above method and as well executed by means of touching parts of the screen * instead ⁇ bf- pressing buttons, or by clicking with a computer mouse or other pointing/selection device.
  • One or more of the client applications of the HMI may be implemented as a thin client using a structured text document or file to present any of CIM/XML information, arguments, variables, addresses, links, mappable objects, executable applications, graphical and non-graphical components, or applets, or for example an HTML or other WWW based or HTML derivative protocol or XML protocol.
  • the structured text document or file format takes care of handling graphical user display and activation functions of the HMI client.
  • Activation functions refers to functions in the web page or web client display carried out by executable applications or applets which may be implemented as Java (TM) , a scripting language such as JavaScript or VBScript, or similar.
  • a user or a technician may examine status or data, configure a parameter, change set points and/or issue commands remotely in to any object for which he/she has authority to so do via the HMI interface.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Testing And Monitoring For Control Systems (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

L'invention porte sur un procédé de commande d'un dispositif ou d'un processus d'automatisation industrielle comprenant une unité de commande, au moins un actionneur et au moins un dispositif agencé pour entrer en communication sans fil avec l'unité de commande. Le procédé permet de déterminer les caractéristiques des transmissions sans fil utilisées pour communiquer les données de capteur et/ou actionneur à l'unité de commande. Le procédé, le système et l'interface graphique permettent à un utilisateur de choisir une stratégie de commande en fonction d'une ou de plusieurs valeurs des caractéristiques des communications sans fil.
PCT/IB2005/003816 2004-12-17 2005-12-19 Procede de commande d'un dispositif ou d'un processus d'automatisation industrielle WO2006064362A2 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US11/793,387 US7881816B2 (en) 2004-12-17 2005-12-19 Method for controlling an industrial automation device
DE112005003076.8T DE112005003076B4 (de) 2004-12-17 2005-12-19 Verfahren zur Steuerung einer industriellen Automationsvorrichtung oder eines Prozesses

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US63669404P 2004-12-17 2004-12-17
US60/636,694 2004-12-17

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WO2006064362A2 true WO2006064362A2 (fr) 2006-06-22
WO2006064362A3 WO2006064362A3 (fr) 2006-10-05

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WO2006064362A3 (fr) 2006-10-05
US20090043407A1 (en) 2009-02-12

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